A Multi-channel Parallel Servo Mechanism Coordination Controller

Abstract

The invention provides multi-path parallel servo mechanism coordination controllers, which belongs to the technical field of electromechanical servo control. The coordination controllers comprises N-path position coordination controllers. Each position coordination controller includes a subtractor, a position controller, a speed command limiter, an error compensation controller and an adder. For the problem that the coordination control between multiple electromechanical servo mechanisms is difficult to ensure synchronization accuracy in the dynamic response process, the invention proposes a coordination control scheme which uses multi-path position control errors for compensation control. The response process of all electromechanical servo systems is consistent with a servo system with the slowest dynamic characteristics, so as to achieve high-precision coordination control of the dynamic response process of multiple electromechanical servo systems. The multi-path parallel servo mechanism coordination controllers which are provided by the invention have the advantages of simple idea, easy implementation, and easy control parameter debugging, and prevents the problem of difficult coordination control caused by limited control capabilities.

Description

technical field [0001] The invention belongs to the technical field of electromechanical servo control, and relates to a coordinated control scheme of multi-channel parallel servo mechanisms. Background technique [0002] In the distributed control architecture, multiple actuators need to be coordinated to achieve the expected control effect, and they must also be consistent during the dynamic response process, otherwise unexpected control deviations will occur and affect system performance. However, in the actual system, due to the uncertainty of the external load disturbance, the difference in the size of the inertia, and the influence of the machining error, there is a deviation in the response performance of each actuator, which brings difficulties to the distributed coordinated control, especially in the dynamic Coordinated control in the response process is more difficult when the actuator has a rate saturation nonlinear problem in the response process. Therefore, the...

AI Technical Summary

Problems solved by technology

However, in the actual system, due to the uncertainty of the external load disturbance, the difference in the size of the inertia, and the influence of the machining error, there is a deviation in the response performance of each actuator, which brings difficulties to the distributed coordinated control, especially in the dynamic When the actuator has a rate saturation nonlinear problem in the response process, the coordinated control in the response process is more difficult

Therefore, the problem of dynamic coordinated control of multiple servo mechanisms has great technical challenges

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